Methods and structure for confirming proper assembly of powered surgical stapling systems

ABSTRACT

A surgical stapling system includes an adapter assembly, a trocar assembly attachable to the adapter assembly, a processor, and memory. The memory includes instructions executable by the processor to cause the trocar assembly to move relative to the adapter assembly and determine whether the trocar assembly is properly attached to the adapter assembly. Such determination is based on an amount of force applied between the trocar assembly and the adapter assembly, an amount of current detected in the surgical stapling system, or an amount of time the trocar assembly moves relative to the adapter assembly without an indication that the amount of force is within a predetermined range.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. Non-Provisional applicationSer. No. 17/346,496, filed Jun. 14, 2021, which claims the benefit ofU.S. Provisional Application Serial No. 63/050,994, filed Jul. 13, 2020,the entire contents of each of which are incorporated by referenceherein.

TECHNICAL FIELD

This disclosure relates to surgical stapling systems and, moreparticularly, to structures and methods for confirming proper assemblyof powered surgical stapling systems.

BACKGROUND

Fasteners have traditionally been used to replace suturing when joiningvarious body structures. Surgical stapling systems employed to applythese fasteners are generally designed to simultaneously cut and sealtissue to reduce the time and risks involved with surgical procedures.Surgical stapling systems that clamp, cut and/or staple tissue are wellknown in the art. Some surgical stapling systems are powered and includea handle assembly, an adapter assembly that couples to the handleassembly, and a reload or end effector assembly that couples to theadapter assembly. While the end effector assembly is typically a singleuse component, at least portions of the handle assembly and/or theadapter assembly require disassembly and cleaning for subsequent use.

SUMMARY

According to one aspect, a surgical stapling system includes an adapterassembly, a trocar assembly selectively attachable to the adapterassembly, a processor, and a memory including instructions storedthereon, which when executed by the processor, cause the surgicalstapling system to move the trocar assembly relative to the adapterassembly and determine whether the trocar assembly is properly attachedto the adapter assembly. Such determination is based on one or more of:an amount of force applied between the trocar assembly and the adapterassembly when the trocar assembly is moved relative to the adapterassembly, an amount of current detected in the surgical stapling systemwhen the trocar assembly is moved relative to the adapter assembly, oran amount of time the trocar assembly moves relative to the adapterassembly without an indication that the amount of force is within apredetermined range.

In aspects, the surgical stapling system may further include a tipprotector mounted to the trocar assembly. The tip protector may includea tip protector body and brace secured to the tip protector body. Thebrace may be positioned to engage a distal engagement protuberance ofthe outer housing of the adapter assembly to cause the amount of forcebetween the trocar assembly and the adapter assembly to increase.

In aspects, the trocar assembly may include a trocar that is operativelycoupled to a lead screw. The lead screw may be positioned to move thetrocar relative to an outer housing of the adapter assembly to move thetip protector into engagement with the outer housing. A sensor may bepositioned adjacent to the lead screw to detect an amount of movement ofthe lead screw relative to the outer housing. The sensor may be a straingauge. The sensor may be configured to communicate a signal to thecontroller. The signal may be indicative of the amount of movement ofthe lead screw relative to the outer housing. The controller may beconfigured to determine the amount of force applied between the trocarassembly and the adapter assembly based on the signal. The controllermay be configured to compare the amount of force applied between thetrocar assembly and the adapter assembly to a threshold amount of forcestored on the memory to determine if the trocar assembly and the adapterassembly are properly assembled.

In aspects, the instructions, when executed by the processor, mayfurther cause the system to display an indication that the trocarassembly is not properly assembled to the adapter assembly or isproperly assembled to the adapter assembly.

According to one aspect, the surgical stapling system includes anadapter assembly having an outer housing, a trocar assembly receivablewithin the outer housing of the adapter assembly and supporting a tipprotector thereon, a processor, and a memory including instructionsstored thereon. The instructions, when executed by the processor, causethe surgical stapling system to: move the tip protector relative to theouter housing, cause the tip protector to engage the outer housing ofthe adapter assembly, detect an amount of force applied between the tipprotector and the adapter outer housing when the tip protector is movedrelative to the outer housing, compare the amount of force detected to athreshold force stored on the memory, and if the amount of forcedetected is greater than the threshold force stored on the memory,selectively output an indication that the trocar assembly is properlysecured to the adapter assembly.

In aspects, the instructions, when executed by the processor, may causethe surgical stapling system to: detect an amount of current in thesurgical stapling system, compare the amount of current in the surgicalstapling system to a threshold current indicative of a current spike,the threshold current stored on the memory, and if the amount of currentin the surgical stapling system is at least equal to the thresholdcurrent, output an indication that that the trocar assembly is notproperly secured to the adapter assembly.

In aspects, the instructions, when executed by the processor, may causethe surgical stapling system to measure the amount of time that the tipprotector is instructed to move relative to the outer housing, comparethe amount of time to a threshold time stored on the memory, and if theamount of time is at least equal to the threshold time, output anindication that the trocar assembly is not properly secured to theadapter assembly.

In aspects, the trocar assembly may include a trocar that is operativelycoupled to a lead screw. The lead screw may be positioned to move thetrocar relative to the adapter assembly to cause the tip protector tomove relative to the outer housing. The surgical stapling system mayinclude a sensor that is positioned adjacent to the lead screw to detectan amount of movement of the lead screw relative to the outer housing.The sensor may be a strain gauge.

In aspects, the surgical stapling system may further include acontroller configured to determine the amount of force based on a signalfrom the sensor indicating the amount of movement of the lead screwrelative to the outer housing.

According to another aspect, a method for determining if a trocarassembly of a surgical stapling system is properly attached to anadapter assembly of the surgical stapling system before attachment of anend effector to the trocar assembly is provided. The method includesmoving the trocar assembly relative to the adapter assembly, selectivelydetermining an amount of force applied between the trocar assembly andthe adapter assembly when the trocar assembly is moved relative to theadapter assembly, selectively determining an amount of current in thesurgical stapling system when the trocar assembly is moved relative tothe adapter assembly, selectively determining an amount of time lapsedfrom when movement of the trocar assembly relative to the adapterassembly is initiated, and based on a determination of at least one ofthe amount of force determined, the amount of current determined, or theamount of time lapsed, selectively outputting an indication that thetrocar assembly is properly secured to the adapter assembly orimproperly secured to the adapter assembly.

According to still another aspect, a non-transitory storage medium thatstores a program causing a processor to execute a method for determiningif a trocar assembly of a surgical stapling system is properly attachedto an adapter assembly of the surgical stapling system is provided. Themethod includes selectively determining an amount of force appliedbetween the trocar assembly and the adapter assembly when the trocarassembly is moved relative to the adapter assembly, selectivelydetermining an amount of current in the surgical stapling system whenthe trocar assembly is moved relative to the adapter assembly,selectively determining an amount of time lapsed from when movement ofthe trocar assembly relative to the adapter assembly is initiated, andbased on a determination of at least one of the amount of forcedetermined, the amount of current determined, or the amount of timelapsed, selectively outputting an indication that the trocar assembly isproperly secured to the adapter assembly or improperly secured to theadapter assembly.

Other aspects, features, and advantages will be apparent from thedescription, the drawings, and the claims that follow.

BRIEF DESCRIPTION OF DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this specification, illustrate aspects of the disclosure and,together with a general description of the disclosure given above andthe detailed description given below, serve to explain the principles ofthis disclosure, wherein:

FIG. 1 is a perspective view of an illustrative surgical stapling systemin accordance with the principles of this disclosure;

FIG. 2 is a perspective view of an adapter assembly of the surgicalstapling system of FIG. 1 ;

FIG. 3 is a perspective view of a trocar assembly of the adapterassembly of FIG. 2 with a tip protector shown supported thereon;

FIG. 4 is a perspective view, with parts separated, of the trocarassembly and tip protector of FIG. 3 ;

FIGS. 5-7 are progressive views illustrating the trocar assembly of FIG.3 being removed from the adapter assembly of FIG. 2 and/or attached tothe adapter assembly with the tip protector of FIG. 3 mounted thereon;and

FIG. 8 is a flow chart illustrating a method for determining if thetrocar assembly of FIG. 3 is properly attached to the adapter assemblyof FIG. 2 when calibrating the surgical stapling system after beingassembled with the tip protector of FIG. 3 supported thereon.

DETAILED DESCRIPTION

Aspects of the disclosed surgical stapling systems are described indetail with reference to the drawings, in which like reference numeralsdesignate identical or corresponding elements in each of the severalviews. As commonly known, the term “clinician” refers to a doctor, anurse, or any other care provider and may include support personnel.Additionally, the term “proximal” refers to the portion of structurethat is closer to the clinician and the term “distal” refers to theportion of structure that is farther from the clinician. In addition,directional terms such as front, rear, upper, lower, top, bottom, andthe like are used simply for convenience of description and are notintended to limit the disclosure attached hereto.

In the following description, well-known functions or constructions arenot described in detail to avoid obscuring the present disclosure inunnecessary detail.

Further, although the surgical instrumentation described herein isprovided in connection with a powered circular surgical stapling systemfor brevity, the disclosed surgical instrumentation can include anypowered, manual, or robotically-controlled surgical instruments such asa clip applier, stitching device, energy-based device (e.g., a bipolaror monopolar forceps) or the like, and/or other surgical staplingsystems such as a linear stapler, a transverse stapler, or an openstapler. For a detailed description of the structure and function ofexemplary surgical stapling systems, one or more components of which maybe included, or modified for use with the disclosed aspects, referencemay be made to U.S. Pat. Nos. 9,713,470; 8,806,973; 8,256,656;8,157,152; 8,070,033; 7,819,896; 7,770,774; 7,334,717; 7,128,253;5,964,394; and 5,915,616, the entire contents of each of which areincorporated herein by reference.

Briefly, this disclosure details structure and methods for effectivelyrelaying information/data from one or more sensors (e.g., strain gauges)in an adapter of a surgical stapling system to one or more controllersor processors, which may be part of (and/or remote from) the surgicalstapling systems thereof (e.g., in a housing/handle assembly, robot arm,network, etc.) to accurately determine and/or analyze, for example,signals from the sensor(s). For instance, the sensors can be configuredto sense force acting on the sensors and communicate signals to theprocessors so that the processors can determine, based on the signals,whether the trocar assembly of an adapter assembly is properly attachedto the adapter assembly.

With reference to FIG. 1 , a surgical stapling system 10 of thisdisclosure includes a housing assembly 12 (which may include one or morehandles that may be manually actuatable to fire surgical stapling system10) and an elongated shaft assembly 14 that is removably secured tohousing assembly 12. Elongated shaft assembly 14 extends distally tohousing assembly 12 and defines a centerline “CL” therealong. Elongatedshaft assembly 14 includes an adapter assembly 100 having a proximal endportion removably secured to housing assembly 12. Elongated shaftassembly 14 further includes an end effector assembly 200 that isremovably secured to a distal end portion of adapter assembly 100. Endeffector assembly 200 may be disposable and/or include one or moredisposable components. End effector assembly 200 includes an anvilassembly 202 and a cartridge assembly 204 that houses a plurality ofstaples (not shown) in a reload or cartridge 206 thereof that may beselectively replaceable. Anvil assembly 202 includes an anvil 202 aagainst which the plurality of staples is formed upon a firing ofsurgical stapling system 10.

Housing assembly 12 of surgical stapling system 10 includes a housing 12a configured for selective removable receipt of a rechargeable battery12 b. Battery 12 b is configured to supply power to electricalcomponents of surgical stapling system 10. Housing 12 a supports acontroller 12 c (e.g., a circuit board) therein that is configured tocontrol various operations of surgical stapling system 10, and whichincludes any number of electronic components such as memory 12 d (whichmay include a storage device for storing data, and which may be a partof memory 12 d or separate from memory 12 d), a processor 12 e, anetwork interface 12 f, and/or other electrical circuitry such as(input/output modules, sensors, chips, wiring, etc.) 12 g. As can beappreciated, memory 12 d can include instructions stored thereon thatare selectively executable by processor 12 e, which cause the surgicalstapling system or components thereof to effectuate one or morefunctions such as sensing, analyzing signals from sensors, andcommunicating signals to one or more components to effectuate one ormore other functions such as preventing component movement or causingone more components to move or communicate with other components.Controller 12 c may be electrically coupled to a local display device 13(and/or a remote display device—not shown) for outputting informationand/or data such as a condition of components of surgical staplingsystem 10. For instance, display device 13 can output an indication ofwhether adapter assembly 100 is properly operating and/or assembled.

Surgical stapling system 10 further includes a drive mechanism 12 hconfigured to drive mechanical and/or electrical components such asrotatable shafts and/or gear components (not shown) within housing 12 ain order to perform various operations of surgical stapling system 10.For instance, drive mechanism 12 h may be operable to selectively move(e.g., rotate about) end effector 300 relative to the centerline “CL” ofsurgical stapling system 10, as indicated by arrows “A,” to selectivelymove anvil assembly 202 relative to the cartridge assembly 204, asindicated by arrows “B,” to selectively clamp tissue; and/or to firesurgical stapling system 10 for fastening and/or cutting the clampedtissue. Battery 12 b, controller 12 c, and/or drive mechanism 12 h maybe operably coupled to one or more actuators 11 a, 11 b, and 11 c suchas finger-actuated control buttons, rocker devices, and/or the like toeffectuate various functions of surgical stapling system 10 such asthose described above.

With reference to FIGS. 2 and 7 , adapter assembly 100 of elongatedshaft assembly 14 includes an outer housing 110 and supports a driveassembly 112 therein. Outer housing 110 extends from a proximalconnector housing 110 a to a distal engagement protuberance 110 b. Adistal end portion of drive assembly 112 operatively couples to proximalend portion of a trocar assembly 114, in particular to a lead screw 114a of trocar assembly 114 that is rotatable, as indicated by arrows “C,”to translate a trocar 116 of trocar assembly 114, as indicated by arrows“D.” Axial movement of trocar 116 causes anvil assembly 202 of endeffector 200 to move relative to cartridge assembly 204, as indicated byarrows “B,” when end effector 200 is coupled to adapter assembly 100(FIG. 1 ). Adapter assembly 100 further includes one or more sensors120, such as a strain gauge, positioned along lead screw 114 a to detecta threshold force (e.g. 20 lbs.) within a predetermined range ofmovement (e.g., rotational and/or axial) of lead screw 114 a relative tosensors 120 and/or other components of adapter assembly 100. Sensors 120are disposed in electrical communication with controller 12 c of housingassembly 12 of surgical stapling system 10.

Referring to FIGS. 3-5 , trocar assembly 114 of adapter assembly 200 isselectively removable from adapter assembly 200, for example, toeffectuate a cleaning of adapter assembly 200. Trocar assembly 114 canfurther support a tip protector 130 thereon that protects trocar 116when trocar assembly 114 is removed from adaptor assembly 100 and/orotherwise exposed without end effector 200 attached thereto. Tipprotector 130 includes a tip protector body 132. Tip protector body 132includes an arch 132 a at a proximal end portion thereof and a flange132 b at a distal end portion thereof. Tip protector body 132 defines aplurality of apertures 132 c therethrough and an arched channel 132 ddefined by arch 132 a. Tip protector 130 further includes a brace 134that extends proximally from a threaded distal opening 132 d in tipprotector body 132 to a contact base 136 (see FIG. 7 ). Threaded distalopening 132 d receives a screw 138 to secure brace 134 to tip protectorbody 132. Contact base 136 includes transverse arms 136 a, 136 b and aclip 136 c that depends from transverse arm 136 a. Clip 136 c extendsthrough tip protector body 132 into the arched channel 132 d. Clip 136 cis positioned to engage a clip channel 116 a defined in trocar assembly114 for securing tip protector 130 to trocar assembly 114 as seen inFIG. 3 . Arched channel 132 c is positioned to receive trocar 116therein so that trocar 116 can be retained within tip protector body 132via frictionally and/or snap-fit arrangement.

With reference to FIGS. 1-8 , when trocar assembly 114 is separated fromadapter assembly 100, such as to effectuate a cleaning process ofadapter assembly 100, re-attachment of trocar assembly 114 to adapterassembly 100 is required. To ensure trocar assembly 114 is properlyattached, the surgical stapling system 10 includes software thatanalyzes signals from the sensors 120 and determines whether trocarassembly 114 is properly attached to adapter assembly 100. Once trocarassembly 114 is attached to adapter assembly 100 and adapter assembly100 is secured to housing assembly 112, the assembly can be calibrated.The software includes instructions stored on memory 12 d that, whenexecuted by processor 12 e to cause controller 12 c to determine whetheradapter assembly 100 is properly assembled and output a signalindicative of the propriety of the assembly, for example.

Briefly, sensor 120, detects forces greater than a threshold (e.g., 20lbs.) within a specified range (e.g. distance) so that the softwarerecognizes that the trocar assembly 114 was properly installed. If thesensor 120 does not detect a force greater than the threshold within thespecified range of movement, lead screw 114 a of trocar assembly 114will bottom out, which can induce a current spike. The software canutilize the current spike for an indication that trocar assembly 114 wasnot properly assembled to adapter assembly 114. If neither event(current spike nor force threshold) occurs within a specified timelimit, the system can be configured to indicate that the device wasimproperly assembled. The software can be configured to prevent the useof the device until a proper assembly verification is achieved.

Advantageously, such verification software prevents the reload fromclamping and/or firing when the trocar assembly is not properlyassembled with the adapter assembly. Indeed, the disclosed verificationsoftware prevents staples of the surgical stapling system from becomingunder-crimped, prevents the surgical stapling system from effectuatingincomplete tissue cutting, and/or prevents the reload from becominglocked onto the tissue.

More specifically, as best illustrated in FIG. 8 , in step 300, duringcalibration, trocar 116 of trocar assembly 114 can be retractedproximally upon an activation of drive assembly 112 that causes leadscrew 114 a to rotate. Continued proximal movement of trocar 116 causescontact base 136 of tip protector 130 to engage (e.g., contact) distalengagement protuberance 110 b of outer housing 110 of adapter assembly100. Such engagement will cause increase an amount of force beingapplied between trocar assembly 114 and adapter assembly 100 (e.g., vialead screw 114 a).

In step 310, sensor 120, detects forces acting on lead screw 114 a,which are counterforces opposing the engagement of distal engagementprotuberance 110 b of adapter assembly 100 and contact base 136 of tipprotector 130. Such detected forces progressively increase as lead screw114 is drawn in the proximal direction relative distal engagementprotuberance 110 b within a specified range of movement of the leadscrew 114 a (e.g. distance lead screw 114 a travels relative to sensor120). Sensor 120 transmits a signal (e.g., electrical such as a voltageand/or current signal) indicative of such distance travelled to, forexample, controller 12 c for controller 12 c to analyze such signal.

In step 320, controller 12 c determines, based on the signal from sensor120, an amount of force being applied between trocar assembly 114 andadapter assembly 100. Controller 12 c than compares such detected forceto a predetermined threshold force stored, for example, on memory 12 d(or a storage device thereof and/or in electrical communicationtherewith). If such detected force meets a predetermine threshold, whichmay be, for example 20 lbs. of force (although any suitablepredetermined threshold force may be utilized), controller 12 c can senda signal to indicate that assembly of trocar assembly 114 and adapterassembly 100 is proper. For instance, a controller 12 c can send asignal that causes display 13 to output an indication that assembly isproper and/or that surgical stapling system 10 is ready for use or reuseas illustrated in step 350.

In step 330, controller 12 c can determine, for example, from signalssent from a current sensor or timer (not shown) electrically coupledthereto, if there was an improper assembly. For instance, if lead screw114 a has bottomed out, a current spike (e.g., 8-10 amps) will occur inthe system (and/or a predetermined amount of current will be detected).

Alternatively, and/or additionally, if a predetermined amount of timehas lapsed without an indication of proper assembly, controller 12 c candetermine that there was improper assembly. More particularly, ifcurrent reaches a predetermined threshold (or spike) and/or apredetermined amount of time lapses (e.g., 5-10 seconds) without anindication that there was a proper assembly of trocar assembly 114 andadapter assembly 100, controller 12 c determines there was an improperassembly. In such instances, controller 12 c can send a signal thatcauses display 13 to indicate that there was an improper assembly asillustrated in step 340. Alternatively, and/or additionally, controller12 c can send one or more signals that lockout and/or prevent surgicalstapling system 10, or components thereof (e.g., end effector 200) fromoperating until surgical stapling system 10 is properly assembled.

Further, the various aspects disclosed herein may also be configured towork with robotic surgical systems and what is commonly referred to as“Telesurgery.” Such systems employ various robotic elements to assistthe clinician and allow remote operation (or partial remote operation)of surgical instrumentation. Various robotic arms, gears, cams, pulleys,electric and mechanical motors, etc. may be employed for this purposeand may be designed with a robotic surgical system to assist theclinician during the course of an operation or treatment. Such roboticsystems may include remotely steerable systems, automatically flexiblesurgical systems, remotely flexible surgical systems, remotelyarticulating surgical systems, wireless surgical systems, modular orselectively configurable remotely operated surgical systems, etc.

The robotic surgical systems may be employed with one or more consolesthat are next to the operating theater or located in a remote location.In this instance, one team of clinicians may prep the patient forsurgery and configure the robotic surgical system with one or more ofthe instruments disclosed herein while another clinician (or group ofclinicians) remotely controls the instruments via the robotic surgicalsystem. As can be appreciated, a highly skilled clinician may performmultiple operations in multiple locations without leaving his/her remoteconsole which can be both economically advantageous and a benefit to thepatient or a series of patients. For a detailed description of exemplarymedical work stations and/or components thereof, reference may be madeto U.S. Patent Application Publication No. 2012/0116416, and PCTApplication Publication No. WO2016/025132, the entire contents of eachof which are incorporated by reference herein.

Moreover, the disclosed electronic structure such as the electronicassembly and/or controllers, can include any suitable electricalcomponents for operating the disclosed surgical stapling systems orcomponents thereof. Such electrical components can include, for example,one or more controllers and/or circuitry, which may include or becoupled to one or more printed circuit boards. As used herein, the term“controller” includes “processor,” “digital processing device” and liketerms, and are used to indicate a microprocessor or central processingunit (CPU). The CPU is the electronic circuitry within a computer thatcarries out the instructions of a computer program by performing thebasic arithmetic, logical, control and input/output (I/O) operationsspecified by the instructions, and by way of non-limiting examples,include server computers. In some aspects, the controller includes anoperating system configured to perform executable instructions. Theoperating system is, for example, software, including programs and data,which manages hardware of the disclosed surgical stapling systems andprovides services for execution of applications for use with thedisclosed surgical stapling systems. Those of skill in the art willrecognize that suitable server operating systems include, by way ofnon-limiting examples, FreeBSD, OpenBSD, NetBSD®, Linux, Apple® Mac OS XServer®, Oracle® Solaris®, Windows Server®, and Novell® NetWare®. Insome aspects, the operating system is provided by cloud computing.

In some aspects, the term “controller” may be used to indicate a devicethat controls the transfer of data from a computer or computing deviceto a peripheral or separate device and vice versa, and/or a mechanicaland/or electromechanical device (e.g., a lever, knob, etc.) thatmechanically operates and/or actuates a peripheral or separate device.

In aspects, the controller includes a storage and/or memory device. Thestorage and/or memory device is one or more physical systems used tostore data or programs on a temporary or permanent basis. In someaspects, the controller includes volatile memory and requires power tomaintain stored information. In various aspects, the controller includesnon-volatile memory and retains stored information when it is notpowered. In some aspects, the non-volatile memory includes flash memory.In certain aspects, the non-volatile memory includes dynamicrandom-access memory (DRAM). In some aspects, the non-volatile memoryincludes ferroelectric random-access memory (FRAM). In various aspects,the non-volatile memory includes phase-change random access memory(PRAM). In certain aspects, the controller is a storage deviceincluding, by way of non-limiting examples, CD-ROMs, DVDs, flash memorydevices, magnetic disk drives, magnetic tapes drives, optical diskdrives, and cloud computing based storage. In various aspects, thestorage and/or memory device is a combination of devices such as thosedisclosed herein.

In some aspects, the controller includes a display to send visualinformation to a user. In various aspects, the display is a cathode raytube (CRT). In various aspects, the display is a liquid crystal display(LCD). In certain aspects, the display is a thin film transistor liquidcrystal display (TFT-LCD). In aspects, the display is an organic lightemitting diode (OLED) display. In certain aspects, on OLED display is apassive-matrix OLED (PMOLED) or active-matrix OLED (AMOLED) display. Inaspects, the display is a plasma display. In certain aspects, thedisplay is a video projector. In various aspects, the display isinteractive (e.g., having a touch screen or a sensor such as a camera, a3D sensor, a LiDAR, a radar, etc.) that can detect userinteractions/gestures/responses and the like. In some aspects, thedisplay is a combination of devices such as those disclosed herein.

The controller may include or be coupled to a server and/or a network.As used herein, the term “server” includes “computer server,” “centralserver,” “main server,” and like terms to indicate a computer or deviceon a network that manages the surgical stapling systems, componentsthereof, and/or resources thereof. As used herein, the term “network”can include any network technology including, for instance, a cellulardata network, a wired network, a fiber optic network, a satellitenetwork, and/or an IEEE 802.11a/b/g/n/ac wireless network, among others.

In various aspects, the controller can be coupled to a mesh network. Asused herein, a “mesh network” is a network topology in which each noderelays data for the network. All mesh nodes cooperate in thedistribution of data in the network. It can be applied to both wired andwireless networks. Wireless mesh networks can be considered a type of“Wireless ad hoc” network. Thus, wireless mesh networks are closelyrelated to Mobile ad hoc networks (MANETs). Although MANETs are notrestricted to a specific mesh network topology, Wireless ad hoc networksor MANETs can take any form of network topology. Mesh networks can relaymessages using either a flooding technique or a routing technique. Withrouting, the message is propagated along a path by hopping from node tonode until it reaches its destination. To ensure that all its paths areavailable, the network must allow for continuous connections and mustreconfigure itself around broken paths, using self-healing algorithmssuch as Shortest Path Bridging. Self-healing allows a routing-basednetwork to operate when a node breaks down or when a connection becomesunreliable. As a result, the network is typically quite reliable, asthere is often more than one path between a source and a destination inthe network. This concept can also apply to wired networks and tosoftware interaction. A mesh network whose nodes are all connected toeach other is a fully connected network.

In some aspects, the controller may include one or more modules. As usedherein, the term “module” and like terms are used to indicate aself-contained hardware component of the central server, which in turnincludes software modules. In software, a module is a part of a program.Programs are composed of one or more independently developed modulesthat are not combined until the program is linked. A single module cancontain one or several routines, or sections of programs that perform aparticular task.

As used herein, the controller includes software modules for managingvarious aspects and functions of the disclosed surgical stapling systemsor components thereof.

The disclosed surgical stapling systems may also utilize one or morecontrollers to receive various information and transform the receivedinformation to generate an output. The controller may include any typeof computing device, computational circuit, or any type of processor orprocessing circuit capable of executing a series of instructions thatare stored in memory. The controller may include multiple processorsand/or multicore central processing units (CPUs) and may include anytype of processor, such as a microprocessor, digital signal processor,microcontroller, programmable logic device (PLD), field programmablegate array (FPGA), or the like. The controller may also include a memoryto store data and/or instructions that, when executed by the one or moreprocessors, cause the one or more processors to perform one or moremethods and/or algorithms.

Any of the herein described methods, programs, algorithms, or codes maybe converted to, or expressed in, a programming language or computerprogram. The terms “programming language” and “computer program,” asused herein, each include any language used to specify instructions to acomputer, and include (but is not limited to) the following languagesand their derivatives: Assembler, Basic, Batch files, BCPL, C, C+, C++,Delphi, Fortran, Java, JavaScript, machine code, operating systemcommand languages, Pascal, Perl, PL1, scripting languages, Visual Basic,metalanguages which themselves specify programs, and all first, second,third, fourth, fifth, or further generation computer languages. Alsoincluded are database and other data schemas, and any othermeta-languages. No distinction is made between languages which areinterpreted, compiled, or use both compiled and interpreted approaches.No distinction is made between compiled and source versions of aprogram. Thus, reference to a program, where the programming languagecould exist in more than one state (such as source, compiled, object, orlinked) is a reference to any and all such states. Reference to aprogram may encompass the actual instructions and/or the intent of thoseinstructions.

As can be appreciated, securement of any of the components of thedisclosed systems can be effectuated using known securement techniquessuch welding, crimping, gluing, fastening, etc. Also, any of thedisclosed structure can include any suitable conductive material (e.g.,metallic), semi-conductive material (e.g., silicone), and/ornon-conductive/insulative material (e.g., plastic).

Persons skilled in the art will understand that the structures andmethods specifically described herein and illustrated in theaccompanying figures are non-limiting exemplary aspects, and that thedescription, disclosure, and figures should be construed merely asexemplary of particular aspects. It is to be understood, therefore, thatthis disclosure is not limited to the precise aspects described, andthat various other changes and modifications may be effectuated by oneskilled in the art without departing from the scope or spirit of thedisclosure. Additionally, it is envisioned that the elements andfeatures illustrated or described in connection with one exemplaryaspect may be combined with the elements and features of another withoutdeparting from the scope of this disclosure, and that such modificationsand variations are also intended to be included within the scope of thisdisclosure. Indeed, any combination of any of the disclosed elements andfeatures is within the scope of this disclosure. Accordingly, thesubject matter of this disclosure is not to be limited by what has beenparticularly shown and described.

1. (canceled)
 2. A surgical system, comprising: an adapter assembly; atrocar assembly; a processor; and a memory including instructions storedthereon, which when executed by the processor, cause the surgical systemto: determine whether the trocar assembly is properly attached to theadapter assembly based on at least one of: an amount of force appliedbetween the trocar assembly and the adapter assembly; an amount ofcurrent detected in the surgical system; or an amount of time relativemovement between the trocar assembly and the adapter assembly occurswithout an indication that the amount of force is in a predeterminedrange.
 3. The surgical system of claim 2, further comprising a tipprotector mounted to the trocar assembly.
 4. The surgical system ofclaim 3, wherein the trocar assembly includes a trocar that isoperatively coupled to a lead screw, the lead screw positioned to movethe trocar relative to an outer housing of the adapter assembly to movethe tip protector into engagement with the outer housing.
 5. Thesurgical system of claim 4, further comprising a sensor that ispositioned adjacent to the lead screw to detect an amount of movement ofthe lead screw relative to the outer housing.
 6. The surgical system ofclaim 5, wherein the sensor is a strain gauge.
 7. The surgical system ofclaim 5, wherein the sensor is configured to communicate a signal to acontroller, the signal indicative of the amount of movement of the leadscrew relative to the outer housing.
 8. The surgical system of claim 7,wherein the controller is configured to determine the amount of forceapplied between the trocar assembly and the adapter assembly based onthe signal.
 9. The surgical system of claim 8, wherein the controller isconfigured to compare the amount of force applied between the trocarassembly and the adapter assembly to a threshold amount of force storedon the memory to determine if the trocar assembly and the adapterassembly are properly assembled.
 10. The surgical system of claim 9,wherein the instructions, when executed by the processor, further causethe system to display an indication that the trocar assembly is notproperly assembled to the adapter assembly or is properly assembled tothe adapter assembly.
 11. The surgical system of claim 4, wherein thetip protector includes a tip protector body and a brace secured to thetip protector body, the brace positioned to engage a distal engagementprotuberance of the outer housing of the adapter assembly to cause theamount of force between the trocar assembly and the adapter assembly toincrease.
 12. A surgical system, comprising: an adapter assembly havingan outer housing; a trocar assembly receivable within the outer housingof the adapter assembly and supporting a tip protector; a processor; anda memory including instructions stored thereon, which when executed bythe processor, cause the surgical system to: cause the tip protector toengage the outer housing of the adapter assembly; detect an amount offorce applied between the tip protector and the adapter outer housing;compare the amount of force detected to a threshold force stored on thememory; and if the amount of force detected is greater than thethreshold force stored on the memory, selectively output an indicationthat the trocar assembly is properly secured to the adapter assembly.13. The surgical system according to claim 12, wherein the instructions,when executed by the processor, cause the surgical system to: detect anamount of current in the surgical system; compare the amount of currentin the surgical system to a threshold current indicative of a currentspike, the threshold current stored on the memory; and if the amount ofcurrent in the surgical system is at least equal to the thresholdcurrent, output an indication that that the trocar assembly is notproperly secured to the adapter assembly.
 14. The surgical systemaccording to claim 13, wherein the instructions, when executed by theprocessor, cause the surgical system to measure the amount of time thatthere is relative movement between the tip protector and the outerhousing; compare the amount of time to a threshold time stored on thememory; and if the amount of time is at least equal to the thresholdtime, output an indication that the trocar assembly is not properlysecured to the adapter assembly.
 15. The surgical system of claim 12,wherein the trocar assembly includes a trocar that is operativelycoupled to a lead screw, the lead screw positioned to move the trocarrelative to the adapter assembly to cause relative movement between thetip protector and the outer housing.
 16. The surgical system of claim15, further comprising a sensor that is positioned adjacent to the leadscrew to detect an amount of movement between the lead screw and theouter housing.
 17. The surgical system of claim 16, wherein the sensoris a strain gauge.
 18. The surgical system of claim 16, furthercomprising a controller configured to determine the amount of forcebased on a signal from the sensor indicating the amount of movementbetween the lead screw and the outer housing.
 19. A method fordetermining if a trocar assembly of a surgical system is properlyattached to an adapter assembly of the surgical system before attachmentof an end effector to the trocar assembly, the method comprising:selectively determining an amount of force applied between the trocarassembly and the adapter assembly; selectively determining an amount ofcurrent in the surgical system; selectively determining an amount oftime lapsed from when relative movement between the trocar assembly andthe adapter assembly is initiated; and based on a determination of atleast one of the amount of force determined, the amount of currentdetermined, or the amount of time lapsed, selectively outputting anindication that the trocar assembly is properly secured to the adapterassembly or improperly secured to the adapter assembly.
 20. Anon-transitory storage medium that stores a program causing a processorto execute a method for determining if a trocar assembly of a surgicalsystem is properly attached to an adapter assembly of the surgicalsystem, the method comprising: selectively determining an amount offorce applied between the trocar assembly and the adapter assembly;selectively determining an amount of current in the surgical system;selectively determining an amount of time lapsed from when relativemovement between the trocar assembly and the adapter assembly isinitiated; and based on a determination of at least one of the amount offorce determined, the amount of current determined, or the amount oftime lapsed, selectively outputting an indication that the trocarassembly is properly secured to the adapter assembly or improperlysecured to the adapter assembly.